/*
 * Copyright (c) 2018, Bosch Software Innovations GmbH.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its contributors
 *       may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_COMMON__TRANSFORMATION__ROS_HELPERS__ROS_CONVERSION_HELPERS_HPP_
#define RVIZ_COMMON__TRANSFORMATION__ROS_HELPERS__ROS_CONVERSION_HELPERS_HPP_

#include <string>

#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/vector3.hpp"
#include "std_msgs/msg/header.hpp"

#include "rclcpp/rclcpp.hpp"

#include "rviz_common/visibility_control.hpp"

namespace rviz_common
{
namespace transformation
{
struct Header;
struct Time;
struct Point;
struct Quaternion;
struct PoseStamped;
struct TransformStamped;

namespace ros_helpers
{

RVIZ_COMMON_PUBLIC
rviz_common::transformation::Point
fromRosPoint(geometry_msgs::msg::Point ros_point);

RVIZ_COMMON_PUBLIC
rviz_common::transformation::Quaternion
fromRosQuaternion(
  geometry_msgs::msg::Quaternion ros_quaternion);

RVIZ_COMMON_PUBLIC
rviz_common::transformation::Point
fromRosVector3(geometry_msgs::msg::Vector3 ros_vector);

RVIZ_COMMON_PUBLIC
rviz_common::transformation::PoseStamped
fromRosPoseStamped(geometry_msgs::msg::PoseStamped ros_pose);

RVIZ_COMMON_PUBLIC
rviz_common::transformation::TransformStamped
fromRosTransformStamped(geometry_msgs::msg::TransformStamped ros_transform);

RVIZ_COMMON_PUBLIC
std_msgs::msg::Header
toRosHeader(rviz_common::transformation::Time time_stamp, const std::string & frame_id);

RVIZ_COMMON_PUBLIC
geometry_msgs::msg::Point
toRosPoint(rviz_common::transformation::Point point);

RVIZ_COMMON_PUBLIC
geometry_msgs::msg::Vector3
toRosVector3(rviz_common::transformation::Point point);

RVIZ_COMMON_PUBLIC
geometry_msgs::msg::Quaternion
toRosQuaternion(rviz_common::transformation::Quaternion ros_quaternion);

RVIZ_COMMON_PUBLIC
geometry_msgs::msg::PoseStamped
toRosPoseStamped(rviz_common::transformation::PoseStamped pose_stamped);

}  // namespace ros_helpers
}  // namespace transformation
}  // namespace rviz_common

#endif  // RVIZ_COMMON__TRANSFORMATION__ROS_HELPERS__ROS_CONVERSION_HELPERS_HPP_
